By Topic

Dynamic decoupling for hybrid control of rigid-/flexible-joint robots interacting with the environment

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Jankowski, K.P. ; Dept. of Mech. Eng., McMaster Univ., Hamilton, Ont., Canada ; El Maraghy, H.A.

Nonlinear feedback control for force-controlled robots with constrained end-effector motion is considered. A general method is presented that assures an exact feedback linearization for both rigid and flexible-joint robots, as the joint flexibility can cause instability of robot control. The feedback control linearizes and decouples the original nonlinear system into a number of decoupled linear subsystems. The effect of stiction on the end-effector contact with the environment is inherently incorporated in the formulation, using the same constrained system formalism. A version of the controller with improved robustness characteristics, based on the robust servomechanism theory, is proposed. The derivation of the control algorithm for a two-link planar robot interacting with a rough plane surface is presented as an example. Numerical simulation results confirm the effectiveness of the method. The issues associated with real-time robot control, such as the choice of sampling frequency and the influence of modeling errors, are discussed

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:8 ,  Issue: 5 )